Project BioRobotics Group 19
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Diff: main.cpp
- Revision:
- 23:a87fd4719655
- Parent:
- 21:2e732eb85daf
--- a/main.cpp Fri Nov 03 10:06:57 2017 +0000 +++ b/main.cpp Tue Nov 07 09:33:51 2017 +0000 @@ -111,6 +111,7 @@ volatile bool xdir = true, ydir = false; // Direction the EMG signal moves the end effector volatile int count = 0; // Counter to change direction + // FUNCTIONS /////////////////////////////////////////////////////////////////// // BIQUAD FILTER FOR DERIVATIVE OF ERROR /////////////////////////////////////// @@ -384,7 +385,7 @@ // Construct Jacobian double q[4]; - q[0] = position1, q[1] = -position1; + q[0] = position1, q[1] = -position1; q[2] = position2, q[3] = -position2; double T2[3]; // Second column of the jacobian